From debc43ab34dd1d31bba46add321f96dc7efa3c9b Mon Sep 17 00:00:00 2001 From: Bertrand Songis Date: Fri, 8 Feb 2019 14:06:23 +0100 Subject: [PATCH] PXX2 CRC Mixin --- radio/src/pulses/pxx.cpp | 43 +------------- radio/src/pulses/pxx.h | 115 ----------------------------------- radio/src/pulses/pxx1.cpp | 41 ++++++++++++- radio/src/pulses/pxx1.h | 122 ++++++++++++++++++++++++++++++++++++-- radio/src/pulses/pxx2.cpp | 2 + radio/src/pulses/pxx2.h | 22 +++++-- 6 files changed, 178 insertions(+), 167 deletions(-) diff --git a/radio/src/pulses/pxx.cpp b/radio/src/pulses/pxx.cpp index af389aecb..efaf8b886 100644 --- a/radio/src/pulses/pxx.cpp +++ b/radio/src/pulses/pxx.cpp @@ -19,43 +19,6 @@ */ #include "opentx.h" -#include "pulses/pxx1.h" -#include "pulses/pxx2.h" - -const uint16_t PxxCrcMixin::CRCTable[] = { - 0x0000,0x1189,0x2312,0x329b,0x4624,0x57ad,0x6536,0x74bf, - 0x8c48,0x9dc1,0xaf5a,0xbed3,0xca6c,0xdbe5,0xe97e,0xf8f7, - 0x1081,0x0108,0x3393,0x221a,0x56a5,0x472c,0x75b7,0x643e, - 0x9cc9,0x8d40,0xbfdb,0xae52,0xdaed,0xcb64,0xf9ff,0xe876, - 0x2102,0x308b,0x0210,0x1399,0x6726,0x76af,0x4434,0x55bd, - 0xad4a,0xbcc3,0x8e58,0x9fd1,0xeb6e,0xfae7,0xc87c,0xd9f5, - 0x3183,0x200a,0x1291,0x0318,0x77a7,0x662e,0x54b5,0x453c, - 0xbdcb,0xac42,0x9ed9,0x8f50,0xfbef,0xea66,0xd8fd,0xc974, - 0x4204,0x538d,0x6116,0x709f,0x0420,0x15a9,0x2732,0x36bb, - 0xce4c,0xdfc5,0xed5e,0xfcd7,0x8868,0x99e1,0xab7a,0xbaf3, - 0x5285,0x430c,0x7197,0x601e,0x14a1,0x0528,0x37b3,0x263a, - 0xdecd,0xcf44,0xfddf,0xec56,0x98e9,0x8960,0xbbfb,0xaa72, - 0x6306,0x728f,0x4014,0x519d,0x2522,0x34ab,0x0630,0x17b9, - 0xef4e,0xfec7,0xcc5c,0xddd5,0xa96a,0xb8e3,0x8a78,0x9bf1, - 0x7387,0x620e,0x5095,0x411c,0x35a3,0x242a,0x16b1,0x0738, - 0xffcf,0xee46,0xdcdd,0xcd54,0xb9eb,0xa862,0x9af9,0x8b70, - 0x8408,0x9581,0xa71a,0xb693,0xc22c,0xd3a5,0xe13e,0xf0b7, - 0x0840,0x19c9,0x2b52,0x3adb,0x4e64,0x5fed,0x6d76,0x7cff, - 0x9489,0x8500,0xb79b,0xa612,0xd2ad,0xc324,0xf1bf,0xe036, - 0x18c1,0x0948,0x3bd3,0x2a5a,0x5ee5,0x4f6c,0x7df7,0x6c7e, - 0xa50a,0xb483,0x8618,0x9791,0xe32e,0xf2a7,0xc03c,0xd1b5, - 0x2942,0x38cb,0x0a50,0x1bd9,0x6f66,0x7eef,0x4c74,0x5dfd, - 0xb58b,0xa402,0x9699,0x8710,0xf3af,0xe226,0xd0bd,0xc134, - 0x39c3,0x284a,0x1ad1,0x0b58,0x7fe7,0x6e6e,0x5cf5,0x4d7c, - 0xc60c,0xd785,0xe51e,0xf497,0x8028,0x91a1,0xa33a,0xb2b3, - 0x4a44,0x5bcd,0x6956,0x78df,0x0c60,0x1de9,0x2f72,0x3efb, - 0xd68d,0xc704,0xf59f,0xe416,0x90a9,0x8120,0xb3bb,0xa232, - 0x5ac5,0x4b4c,0x79d7,0x685e,0x1ce1,0x0d68,0x3ff3,0x2e7a, - 0xe70e,0xf687,0xc41c,0xd595,0xa12a,0xb0a3,0x8238,0x93b1, - 0x6b46,0x7acf,0x4854,0x59dd,0x2d62,0x3ceb,0x0e70,0x1ff9, - 0xf78f,0xe606,0xd49d,0xc514,0xb1ab,0xa022,0x92b9,0x8330, - 0x7bc7,0x6a4e,0x58d5,0x495c,0x3de3,0x2c6a,0x1ef1,0x0f78 -}; template void PxxPulses::addChannels(uint8_t port, uint8_t sendFailsafe, uint8_t sendUpperChannels) @@ -127,7 +90,7 @@ void PxxPulses::addChannels(uint8_t port, uint8_t sendFailsafe, ui } } -template class PxxPulses >; -template class PxxPulses >; +template class PxxPulses >; +template class PxxPulses >; +template class PxxPulses; template class PxxPulses; -template class PxxPulses; diff --git a/radio/src/pulses/pxx.h b/radio/src/pulses/pxx.h index c49b7e254..361ee2930 100644 --- a/radio/src/pulses/pxx.h +++ b/radio/src/pulses/pxx.h @@ -50,25 +50,6 @@ #define PXX_PERIOD_HALF_US (PXX_PERIOD * 2000) -class PxxCrcMixin { - protected: - void initCrc() - { - // TODO add a Pxx2CrcMixin ... - crc = 0xFFFF; - } - - void addToCrc(uint8_t byte) - { - // TODO add a Pxx2CrcMixin ... - // crc = (crc << 8) ^ (CRCTable[((crc >> 8) ^ byte) & 0xFF]); - crc -= byte; - } - - uint16_t crc; - static const uint16_t CRCTable[]; -}; - // Used by the Sky9x family boards class SerialPxxBitTransport: public DataBuffer { protected: @@ -136,102 +117,6 @@ class PwmPxxBitTransport: public PulsesBuffer { } }; -template -class StandardPxxTransport: public BitTransport, public PxxCrcMixin { - protected: - uint8_t ones_count; - - void initFrame() - { - BitTransport::initFrame(); - ones_count = 0; - } - - void addByte(uint8_t byte) - { - PxxCrcMixin::addToCrc(byte); - addByteWithoutCrc(byte); - }; - - void addRawByte(uint8_t byte) - { - for (uint8_t i = 0; i < 8; i++) { - if (byte & 0x80) - BitTransport::addPart(1); - else - BitTransport::addPart(0); - byte <<= 1; - } - } - - void addByteWithoutCrc(uint8_t byte) - { - for (uint8_t i = 0; i < 8; i++) { - addBit(byte & 0x80); - byte <<= 1; - } - } - - void addBit(uint8_t bit) - { - if (bit) { - BitTransport::addPart(1); - if (++ones_count == 5) { - ones_count = 0; - BitTransport::addPart(0); // Stuff a 0 bit in - } - } - else { - BitTransport::addPart(0); - ones_count = 0; - } - } -}; - -class UartPxxTransport: public DataBuffer, public PxxCrcMixin { - protected: - void initFrame() - { - initBuffer(); - } - - void addByte(uint8_t byte) - { - PxxCrcMixin::addToCrc(byte); - addWithByteStuffing(byte); - } - - void addRawByte(uint8_t byte) - { - *ptr++ = byte; - } - - void addByteWithoutCrc(uint8_t byte) - { - addWithByteStuffing(byte); - } - - void addWithByteStuffing(uint8_t byte) - { - if (0x7E == byte) { - addRawByte(0x7D); - addRawByte(0x5E); - } - else if (0x7D == byte) { - addRawByte(0x7D); - addRawByte(0x5D); - } - else { - addRawByte(byte); - } - } - - void addTail() - { - // nothing - } -}; - template class PxxPulses: public PxxTransport { protected: diff --git a/radio/src/pulses/pxx1.cpp b/radio/src/pulses/pxx1.cpp index 9cac3ce3c..1394f5ad5 100644 --- a/radio/src/pulses/pxx1.cpp +++ b/radio/src/pulses/pxx1.cpp @@ -21,6 +21,41 @@ #include "opentx.h" #include "pulses/pxx1.h" +const uint16_t Pxx1CrcMixin::CRCTable[] = { + 0x0000,0x1189,0x2312,0x329b,0x4624,0x57ad,0x6536,0x74bf, + 0x8c48,0x9dc1,0xaf5a,0xbed3,0xca6c,0xdbe5,0xe97e,0xf8f7, + 0x1081,0x0108,0x3393,0x221a,0x56a5,0x472c,0x75b7,0x643e, + 0x9cc9,0x8d40,0xbfdb,0xae52,0xdaed,0xcb64,0xf9ff,0xe876, + 0x2102,0x308b,0x0210,0x1399,0x6726,0x76af,0x4434,0x55bd, + 0xad4a,0xbcc3,0x8e58,0x9fd1,0xeb6e,0xfae7,0xc87c,0xd9f5, + 0x3183,0x200a,0x1291,0x0318,0x77a7,0x662e,0x54b5,0x453c, + 0xbdcb,0xac42,0x9ed9,0x8f50,0xfbef,0xea66,0xd8fd,0xc974, + 0x4204,0x538d,0x6116,0x709f,0x0420,0x15a9,0x2732,0x36bb, + 0xce4c,0xdfc5,0xed5e,0xfcd7,0x8868,0x99e1,0xab7a,0xbaf3, + 0x5285,0x430c,0x7197,0x601e,0x14a1,0x0528,0x37b3,0x263a, + 0xdecd,0xcf44,0xfddf,0xec56,0x98e9,0x8960,0xbbfb,0xaa72, + 0x6306,0x728f,0x4014,0x519d,0x2522,0x34ab,0x0630,0x17b9, + 0xef4e,0xfec7,0xcc5c,0xddd5,0xa96a,0xb8e3,0x8a78,0x9bf1, + 0x7387,0x620e,0x5095,0x411c,0x35a3,0x242a,0x16b1,0x0738, + 0xffcf,0xee46,0xdcdd,0xcd54,0xb9eb,0xa862,0x9af9,0x8b70, + 0x8408,0x9581,0xa71a,0xb693,0xc22c,0xd3a5,0xe13e,0xf0b7, + 0x0840,0x19c9,0x2b52,0x3adb,0x4e64,0x5fed,0x6d76,0x7cff, + 0x9489,0x8500,0xb79b,0xa612,0xd2ad,0xc324,0xf1bf,0xe036, + 0x18c1,0x0948,0x3bd3,0x2a5a,0x5ee5,0x4f6c,0x7df7,0x6c7e, + 0xa50a,0xb483,0x8618,0x9791,0xe32e,0xf2a7,0xc03c,0xd1b5, + 0x2942,0x38cb,0x0a50,0x1bd9,0x6f66,0x7eef,0x4c74,0x5dfd, + 0xb58b,0xa402,0x9699,0x8710,0xf3af,0xe226,0xd0bd,0xc134, + 0x39c3,0x284a,0x1ad1,0x0b58,0x7fe7,0x6e6e,0x5cf5,0x4d7c, + 0xc60c,0xd785,0xe51e,0xf497,0x8028,0x91a1,0xa33a,0xb2b3, + 0x4a44,0x5bcd,0x6956,0x78df,0x0c60,0x1de9,0x2f72,0x3efb, + 0xd68d,0xc704,0xf59f,0xe416,0x90a9,0x8120,0xb3bb,0xa232, + 0x5ac5,0x4b4c,0x79d7,0x685e,0x1ce1,0x0d68,0x3ff3,0x2e7a, + 0xe70e,0xf687,0xc41c,0xd595,0xa12a,0xb0a3,0x8238,0x93b1, + 0x6b46,0x7acf,0x4854,0x59dd,0x2d62,0x3ceb,0x0e70,0x1ff9, + 0xf78f,0xe606,0xd49d,0xc514,0xb1ab,0xa022,0x92b9,0x8330, + 0x7bc7,0x6a4e,0x58d5,0x495c,0x3de3,0x2c6a,0x1ef1,0x0f78 +}; + template uint8_t Pxx1Pulses::addFlag1(uint8_t module) { @@ -127,6 +162,6 @@ void Pxx1Pulses::setupFrame(uint8_t module) #endif } -template class Pxx1Pulses >; -template class Pxx1Pulses >; -template class Pxx1Pulses; +template class Pxx1Pulses >; +template class Pxx1Pulses >; +template class Pxx1Pulses; diff --git a/radio/src/pulses/pxx1.h b/radio/src/pulses/pxx1.h index b1ad7a623..7c42b7740 100644 --- a/radio/src/pulses/pxx1.h +++ b/radio/src/pulses/pxx1.h @@ -23,6 +23,118 @@ #include "pxx.h" +class Pxx1CrcMixin { + protected: + void initCrc() + { + crc = 0; + } + + void addToCrc(uint8_t byte) + { + crc = (crc << 8) ^ (CRCTable[((crc >> 8) ^ byte) & 0xFF]); + } + + uint16_t crc; + static const uint16_t CRCTable[]; +}; + +template +class StandardPxx1Transport: public BitTransport, public Pxx1CrcMixin { + protected: + uint8_t ones_count; + + void initFrame() + { + BitTransport::initFrame(); + ones_count = 0; + } + + void addByte(uint8_t byte) + { + Pxx1CrcMixin::addToCrc(byte); + addByteWithoutCrc(byte); + }; + + void addRawByte(uint8_t byte) + { + for (uint8_t i = 0; i < 8; i++) { + if (byte & 0x80) + BitTransport::addPart(1); + else + BitTransport::addPart(0); + byte <<= 1; + } + } + + void addByteWithoutCrc(uint8_t byte) + { + for (uint8_t i = 0; i < 8; i++) { + addBit(byte & 0x80); + byte <<= 1; + } + } + + void addBit(uint8_t bit) + { + if (bit) { + BitTransport::addPart(1); + if (++ones_count == 5) { + ones_count = 0; + BitTransport::addPart(0); // Stuff a 0 bit in + } + } + else { + BitTransport::addPart(0); + ones_count = 0; + } + } +}; + +class UartPxx1Transport: public DataBuffer, public Pxx1CrcMixin { + protected: + void initFrame() + { + initBuffer(); + } + + void addByte(uint8_t byte) + { + Pxx1CrcMixin::addToCrc(byte); + addWithByteStuffing(byte); + } + + void addRawByte(uint8_t byte) + { + *ptr++ = byte; + } + + void addByteWithoutCrc(uint8_t byte) + { + addWithByteStuffing(byte); + } + + void addWithByteStuffing(uint8_t byte) + { + if (0x7E == byte) { + addRawByte(0x7D); + addRawByte(0x5E); + } + else if (0x7D == byte) { + addRawByte(0x7D); + addRawByte(0x5D); + } + else { + addRawByte(byte); + } + } + + void addTail() + { + // nothing + } +}; + template class Pxx1Pulses: public PxxPulses { @@ -38,8 +150,8 @@ class Pxx1Pulses: public PxxPulses void addCrc() { - PxxTransport::addByteWithoutCrc(PxxCrcMixin::crc >> 8); - PxxTransport::addByteWithoutCrc(PxxCrcMixin::crc); + PxxTransport::addByteWithoutCrc(Pxx1CrcMixin::crc >> 8); + PxxTransport::addByteWithoutCrc(Pxx1CrcMixin::crc); } uint8_t addFlag1(uint8_t port); @@ -48,8 +160,8 @@ class Pxx1Pulses: public PxxPulses void add8ChannelsFrame(uint8_t port, uint8_t sendUpperChannels); }; -typedef Pxx1Pulses UartPxxPulses; -typedef Pxx1Pulses> PwmPxxPulses; -typedef Pxx1Pulses> SerialPxxPulses; +typedef Pxx1Pulses UartPxxPulses; +typedef Pxx1Pulses> PwmPxxPulses; +typedef Pxx1Pulses> SerialPxxPulses; #endif diff --git a/radio/src/pulses/pxx2.cpp b/radio/src/pulses/pxx2.cpp index 0c3188828..fbc219e60 100644 --- a/radio/src/pulses/pxx2.cpp +++ b/radio/src/pulses/pxx2.cpp @@ -140,3 +140,5 @@ bool Pxx2Pulses::setupFrame(uint8_t module) return result; } + +template class PxxPulses; diff --git a/radio/src/pulses/pxx2.h b/radio/src/pulses/pxx2.h index 44c5d103b..d50c763a5 100644 --- a/radio/src/pulses/pxx2.h +++ b/radio/src/pulses/pxx2.h @@ -108,8 +108,22 @@ class SportCrcMixin { uint16_t crc; }; +class Pxx2CrcMixin { + protected: + void initCrc() + { + crc = 0xFFFF; + } -class Pxx2Transport: public DataBuffer, public PxxCrcMixin { + void addToCrc(uint8_t byte) + { + crc -= byte; + } + + uint16_t crc; +}; + +class Pxx2Transport: public DataBuffer, public Pxx2CrcMixin { protected: void addWord(uint32_t word) { @@ -121,7 +135,7 @@ class Pxx2Transport: public DataBuffer, public PxxCrcMixin { void addByte(uint8_t byte) { - PxxCrcMixin::addToCrc(byte); + Pxx2CrcMixin::addToCrc(byte); addByteWithoutCrc(byte); }; @@ -168,8 +182,8 @@ class Pxx2Pulses: public PxxPulses { void addCrc() { - Pxx2Transport::addByteWithoutCrc(PxxCrcMixin::crc >> 8); - Pxx2Transport::addByteWithoutCrc(PxxCrcMixin::crc); + Pxx2Transport::addByteWithoutCrc(Pxx2CrcMixin::crc >> 8); + Pxx2Transport::addByteWithoutCrc(Pxx2CrcMixin::crc); } void initFrame()